| 摘要 |
?bstract With this method it is possible to improve the command performance of distance controlled positioning drives, as well as their positioning performance in the region of destination, also if different interferences, such as for instance changing load- and friction conditions act, from travel to travel, on the positioning drive. For this the distance control is periodically optimized to a constant set of standardized operating parameters and the position errors caused by interferences eliminated at every travel. For the periodic optimization of the distance control the same is designed as cascade control (KR) and fourfold forward corrected by direct bias of the leading (?) nominal values of the jolt (or jerk) (RS), of the acceleration (BS) as well as of the velocity (VS). For the elimination of position errors caused by interferences a distinction is made between predictable deterministic interferences and not predictable stochastic interferences. Deterministic interferences are detected quantitatively by a start-up test during the first phase of jolt (or jerk) in the measuring means (29) and a compensation signal (K) is formed from this in the function generator (30), which completely compensates the corresponding position error till the end of the travel. Stochastic position errors are equalized in the integrating amplifier (13.3) till the end of the travel. For a range of destination, the remaining residual-distance-control error ( .DELTA. SFR) is increased for a short term in the distancecontrol error multiplier (35). |
